Compensation for synchronous component of angular transmission errors in harmonic drive gearings

@article{Yamamoto2010CompensationFS,
  title={Compensation for synchronous component of angular transmission errors in harmonic drive gearings},
  author={Masafumi Yamamoto and Makoto Iwasaki and Makoto Kainuma and Yoshifumi Okitsu and Kato Yuki and Kozo Sasaki and Toshio Yajima},
  journal={2010 11th IEEE International Workshop on Advanced Motion Control (AMC)},
  year={2010},
  pages={361-365}
}
This paper presents a modeling and compensation methodology for angular transmission errors in harmonic drive gearings. In this research, effects of synchronous component in the transmission error on the positioning performance are analytically examined. On the basis of the examinations, a transmission error model-based feedforward compensation is adopted to improve the positioning performance during both static and dynamic positioning motions. The proposed approach has been verified by… CONTINUE READING